Modeling and Control for a 6-DOF Platform Manipulator

摘要

This paper deals with the modeling and the control of a parallel robot with six degree of freedom (dof). The mathematical model of the 6-DOF parallel manipulator includes dynamics model which is on the Lagrange method. The model is built in generalized coordinate system. The kinematics model is based on the closed-form solutions. The latter has six electric actuators at six legs. The model-based controller is presented with feedback of platform positions. Two control laws of the actuators positions of the robot are proposed: PID control and Sliding Mode Control (SMC). Simulation results are given to show the comparison performance in term of robustness.